Apparatus and method for detecting target by interlocking target in monitoring system

ABSTRACT

Provided is a monitoring system including: a monitoring apparatus configured to monitor a target; and an operating apparatus configured to operate the monitoring apparatus. In the monitoring system, the operating system includes a controller, and the controller is configured to obtain target information from an outside; receive monitoring information from the monitoring apparatus; determine driving information for driving the monitoring apparatus so that the target is positioned in a monitoring area of the monitoring apparatus, based on the target information and the monitoring information; determine an interlocking field of view (FOV) for adjusting the monitoring area on the basis of the driving information; and transmit the interlocking FOV and a driving angle based on the driving information, to the monitoring apparatus.

CROSS-REFERENCE TO THE RELATED APPLICATION

This application is based on and claims priority from Korean PatentApplication No. 10-2021-0137819, filed on Oct. 15, 2021, in the KoreanIntellectual Property Office, the disclosure of which is incorporated byreference herein in its entirety.

BACKGROUND 1. Field

One or more embodiments relate generally to a method of controlling amonitoring apparatus and an operating apparatus in a monitoring system,and more particularly, to an apparatus and method for automaticallydetecting a target by interlocking a monitoring area of a monitoringapparatus and a target position in a monitoring system.

2. Description of the Related Art

A monitoring system refers to a system that monitors, detects, andtracks a target by using a monitoring apparatus. In particular, themonitoring apparatus may be mounted on a moving object to perform atask, and as the monitoring apparatus continuously moves with the movingobject, a separate apparatus for controlling the monitoring apparatus isneeded. Accordingly, a monitoring system using a monitoring apparatusmounted on the moving object may include a monitoring apparatus thatdirectly detects and tracks a target, and an operating apparatus thatcontrols overall operations of the monitoring apparatus from the outsideof the monitoring apparatus, such as, point direction adjustment of amonitoring sensor of the monitoring apparatus, and movement.

According to the related art, in a monitoring system, an operatingapparatus receives target coordinates corresponding to an earth centerof coordinates of a target from a user, or obtains a signal indicatingseparate target coordinates. Thereafter, the operating apparatusperforms various coordinate transformations by using coordinates of amonitoring apparatus from a satellite, an inertial navigation sensor, aninclinometer, or the like mounted on the monitoring apparatus, andinclination information related to a direction a monitoring sensor ispointing. Accordingly, a turning angle and a height angle are calculatedfor interlocking a monitoring area using the monitoring sensor of themonitoring apparatus and a target position, and the calculated turningangle and height angle are transmitted to the monitoring apparatus. Themonitoring apparatus receives the turning angle and the height anglefrom the operating apparatus, and adjusts the turning angle and theheight angle by using a turning driving body and a height driving body,and thus detects a target through the monitoring sensor, such as avisible light camera, and an infrared camera image of the monitoringapparatus.

Satellites, inertial navigation sensors, inclinometers, or the like areused to obtain or interlock target coordinates generate measurementerrors in an operation of obtaining target coordinates, and the degreeof measurement errors varies depending on a type of monitoring sensor.According to an example, in a case of a global positioning system (GPS)sensor measuring latitude, longitude, and altitude, a measurement errorof several meters (m) to several tens of meters may occur, and in a caseof an inertial navigation sensor or an inclinometer for measuring aheading angle, a pitch angle, and a roll angle, a measurement error ofseveral milliradians (mrad) to several tens of milliradians may occur.In addition, a distance between a target and the monitoring apparatushas various values between several hundred meters and several thousandmeters, a monitoring sensor in the related art uses continuous zoom orstep-by-step zoom having a variable field of view (FOV) of severaldegrees (°) to several tens of degrees, and thus, the FOV of amonitoring camera for observing a target may also have various values.Due to these measurement errors and the diversity of the targetdistance, calculated values of a turning angle and a height angle forinterlocking a monitoring area and a target position may have a largedifference from the true values, and accordingly, the position of thetarget may not be positioned in the center of an image of a monitoringsensor after interlocking. Also, when an FOV set in the monitoringsensor is not greater than a driving accuracy of the monitoringapparatus, the target may disappear from the image of the monitoringcamera.

That is, according to the related art, an operating apparatus may notaccurately determine a driving angle and an interlocking FOV of amonitoring apparatus due to a sensor error generated in a measuringoperation, and a target position is difficult to deal with when it isnot interlocked with a monitoring area of the monitoring apparatus. Inresponse, development of a technology for increasing the accuracy ofinterlocking between a monitoring area of a monitoring apparatus and atarget position is required.

The above-described technology is technical information that theinventor possessed for the derivation of embodiments of the presentdisclosure or acquired during the derivation of embodiments of thepresent disclosure, and does not necessarily indicate known technologydisclosed to the general public prior to the filing of the presentdisclosure.

SUMMARY

Based on the above discussion, embodiments of the present disclosureprovide an apparatus and method for automatically detecting a target byinterlocking a monitoring area of a monitoring apparatus and a positionof the target in a monitoring system.

In addition, embodiments of the present disclosure provide an apparatusand method for, in a monitoring system, an operating apparatus toaccurately determine a driving angle and an interlocking field of view(FOV) of a monitoring apparatus by considering measurement errors.

In addition, embodiments of the present disclosure provide an apparatusand method for a monitoring apparatus to track and monitor a target byusing re-driving when a monitoring area and a position of the target arenot interlocked.

Additional aspects will be set forth in part in the description whichfollows and, in part, will be apparent from the description, or may belearned by practice of the presented embodiments of the presentdisclosure.

According to embodiments of the present disclosure, an operatingapparatus is provided that is configured to control a monitoringapparatus that is mounted on a moving object, the monitoring apparatusincluding a monitoring camera and configured to a detect a target. Theoperating apparatus includes: a controller, wherein the controller isconfigured to: obtain target information from an outside; receivemonitoring information from the monitoring apparatus; determine, basedon the target information and the monitoring information, drivinginformation for driving the monitoring apparatus so that the target ispositioned in a monitoring area of a monitoring image of the monitoringcamera of the monitoring apparatus; determine, based on the drivinginformation, an interlocking field of view (FOV) for adjusting themonitoring area; and transmit the interlocking FOV and a driving angle,based on the driving information, to the monitoring apparatus.

According to one or more embodiments of the present disclosure, thetarget information includes target coordinates and a target shape, themonitoring information includes coordinates, inclination, andinclination accuracy of the monitoring apparatus, the inclinationincludes at least one from among a heading angle, a roll angle, and apitch angle, and the inclination accuracy includes a sensor error of themonitoring camera of the monitoring apparatus.

According to one or more embodiments of the present disclosure, thedriving information includes the driving angle, a driving accuracy, anda target distance, the driving angle includes information on a turningangle and a height angle related to driving of the monitoring apparatus,the driving accuracy includes a turning error with respect to theturning angle, and a height error with respect to the height angle, andthe target distance includes a distance between the target and themonitoring apparatus.

According to one or more embodiments of the present disclosure, thecontroller is further configured to: determine the driving accuracy,based on the inclination accuracy and a preset error table, anddetermine the interlocking FOV, based on the driving accuracy and thetarget distance.

According to one or more embodiments of the present disclosure, thecontroller is further configured to: determine an initial interlockingFOV, based on the turning error and the height error, and determine theinterlocking FOV from the initial interlocking FOV, based on anoperation mode of the operating apparatus being a first detection modeor a second detection mode, wherein the first detection mode includes amode in which the interlocking FOV is determined based on a required FOVfor detection according to the target shape, and wherein the seconddetection mode includes a mode in which the interlocking FOV isdetermined based on a preset target position range value.

According to one or more embodiments of the present disclosure, thecontroller is further configured to: identify whether the turning erroris greater than or equal to a mathematical combination of the heighterror and a ratio of a horizontal resolution to a vertical resolution ofthe monitoring apparatus, determine the turning error as the initialinterlocking FOV based on the turning error being greater than or equalto the mathematical combination of the height error and the ratio, anddetermine the mathematical combination of the height error and the ratioas the initial interlocking FOV, based on the turning error being lessthan the mathematical combination of the height error and the ratio.

According to one or more embodiments of the present disclosure, thecontroller is further configured to: based on the operation mode beingthe first detection mode, determine an area size of the target, based onthe target shape and preset area information, determine a number ofdetection pixels of the target, based on the target shape and presetpixel number information, determine the required FOV for detection,based on the area size, the number of detection pixels, the targetdistance, and a horizontal resolution of the monitoring camera of themonitoring apparatus, and determine the interlocking FOV, based on therequired FOV for detection and the initial interlocking FOV.

According to embodiments of the present disclosure, a monitoringapparatus is provided that is mounted on a moving object and configuredto detect a target. The monitoring apparatus includes: a monitoringcamera; and a controller, wherein the controller is configured to:transmit monitoring information to an operating apparatus that includesa controller, receive a driving angle and an interlocking field of view(FOV) from the operating apparatus, adjust a pointing direction of themonitoring camera, based on the driving angle, and adjust an FOV of themonitoring camera, based on the interlocking FOV, wherein the drivingangle includes information for driving the monitoring apparatus so thatthe target is positioned in a monitoring area of a monitoring image ofthe monitoring camera, and wherein the interlocking FOV includes an FOVfor adjusting the monitoring area.

According to one or more embodiments of the present disclosure, thecontroller is further configured to: identify whether the target ispositioned in the monitoring area of the monitoring image, and performre-driving to track the target based on the controller identifying thatthe target is not positioned in the monitoring area, the re-drivingincluding re-adjusting the pointing direction of the monitoring camera.

According to one or more embodiments of the present disclosure, thecontroller is further configured to, based on determining that there isno time period in which the target is positioned in the monitoring area,adjust the pointing direction of the monitoring camera based on at leastone preset driving pattern.

According to one or more embodiments of the present disclosure, thecontroller is further configured to, based on determining that there isa time period in which the target is positioned in the monitoring area:determine a first target position of the target in the monitoring areaat a first time, determine a second target position of the target in themonitoring area at a second time after the first time, predict aposition of the target based on the first target position, the secondtarget position, and a time interval between the first time and thesecond time, and adjust the pointing direction of the monitoring camerato a predicted target direction.

According to embodiments of the present disclosure, a monitoring systemis provided. The monitoring system includes: an operating apparatusincluding a controller; and a monitoring apparatus including acontroller and a monitoring camera. The operating apparatus isconfigured to: obtain target information from an outside; receivemonitoring information from the monitoring apparatus; determine, basedon the target information and the monitoring information, drivinginformation for driving the monitoring apparatus so that a target ispositioned in a monitoring area of a monitoring image of the monitoringcamera; determine, based on the driving information, an interlockingfield of view (FOV) for adjusting the monitoring area; and transmit theinterlocking FOV and a driving angle, based on the driving information,to the monitoring apparatus. The monitoring apparatus is configured to:transmit the monitoring information to the operating apparatus, receivethe driving angle and the interlocking FOV from the operating apparatus;adjust, based on the driving angle, a pointing direction of themonitoring camera of the monitoring apparatus; and adjust, based on theinterlocking FOV, an FOV of the monitoring camera.

According to embodiments of the present disclosure, a method performedby at least one controller of a monitoring system is provided. The atleast one controller includes at least one processor. The methodincludes: obtaining target information; obtaining monitoringinformation; determining, based on the target information and themonitoring information, driving information for driving a monitoringapparatus of the monitoring system so that a target is positioned in amonitoring area of a monitoring image of a monitoring camera of themonitoring apparatus; determining, based on the driving information, aninterlocking field of view (FOV) for adjusting the monitoring area;obtaining a driving angle based on the driving information; adjusting,based on the driving angle, a pointing direction of the monitoringcamera of the monitoring apparatus; and adjusting, based on theinterlocking FOV, an FOV of the monitoring camera.

According to one or more embodiments of the present disclosure, thetarget information includes target coordinates and a target shape, themonitoring information includes coordinates, inclination, andinclination accuracy of the monitoring apparatus, the inclinationincludes at least one from among a heading angle, a roll angle, and apitch angle, and the inclination accuracy includes a sensor error of themonitoring camera of the monitoring apparatus.

According to one or more embodiments of the present disclosure, thedriving information includes the driving angle, a driving accuracy, anda target distance, the driving angle includes information on a turningangle and a height angle related to driving of the monitoring apparatus,the driving accuracy includes a turning error with respect to theturning angle, and a height error with respect to the height angle, andthe target distance includes a distance between the target and themonitoring apparatus.

According to one or more embodiments of the present disclosure, themethod further includes: determining the driving accuracy, based on aninclination accuracy, included in the monitoring information, and apreset error table, and determining the interlocking FOV, based on thedriving accuracy and the target distance.

According to one or more embodiments of the present disclosure, themethod further includes: determining an initial interlocking FOV basedon the turning error and the height error, and determining theinterlocking FOV based on the initial interlocking FOV.

According to one or more embodiments of the present disclosure, thedetermining the interlocking FOV includes: determining a required FOVfor detection based on a target shape included in the targetinformation; determining the interlocking FOV based on the required FOVfor detection and the initial interlocking FOV.

According to one or more embodiments of the present disclosure, thedetermining the interlocking FOV includes determining the interlockingFOV based on the initial interlocking FOV and a preset target positionrange value.

According to one or more embodiments of the present disclosure, themethod further includes: identifying whether the target is positioned inthe monitoring area of the monitoring image, and performing re-drivingto track the target based on identifying that the target is notpositioned in the monitoring area, the performing the re-drivingincluding re-adjusting the pointing direction of the monitoring camera.

Various respective aspects and features of the present disclosure aredefined in the appended claims. Combinations of features of thedependent claims may be combined with features of the independent claimsas appropriate, not just expressly set forth in the claims.

In addition, one or more features selected in any one embodimentdescribed in the present disclosure may be combined with one or morefeatures selected in any other embodiment described in the presentdisclosure, and alternative combinations of these features at leastpartially alleviate one or more technical problems discussed in thepresent disclosure, or at least partially alleviate a technical problemthat may be discerned by one of the ordinary skill in the art from thepresent disclosure, and furthermore, the particular combinations orpermutations thus formed of the embodiment features are possible, aslong as they are not understood by one of ordinary skill in the art tobe incompatible.

In any described example implementation, two or more physically separatecomponents may alternatively be integrated into a single component iftheir integration is possible, and the integration is possible as longas the same function is performed by a single component thus formed.Additionally, a single component of any embodiment described in thepresent disclosure may alternatively be implemented with two or moreseparate components that achieve the same function, where appropriate.

Certain embodiments of the present disclosure at least partially solve,mitigate, or eliminate at least one of the problems and/or disadvantagesassociated with the related art. Certain embodiments aim to provide atleast one of the advantages described below.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other aspects, features, and advantages of certainembodiments of the present disclosure will be more apparent from thefollowing description taken in conjunction with the accompanyingdrawings, in which:

FIG. 1 shows a monitoring system according to various embodiments;

FIG. 2 shows a configuration of a monitoring apparatus and an operatingapparatus in a monitoring system, according to various embodiments;

FIG. 3 is a schematic diagram illustrating functions of a monitoringapparatus and an operating apparatus in a monitoring system, accordingto various embodiments;

FIG. 4 is a flowchart illustrating an operating method of a monitoringsystem according various embodiments;

FIG. 5 is a schematic diagram illustrating a re-driving method in amonitoring system according to various embodiments;

FIG. 6 is a flowchart illustrating an operating method of an operatingapparatus in a monitoring system according to various embodiments;

FIG. 7 is a flowchart illustrating a method in which an operatingapparatus determines an interlocking field of view (FOV) in a monitoringsystem according to various embodiments;

FIG. 8 is a flowchart illustrating an operating method of a monitoringapparatus in a monitoring system according to various embodiments; and

FIG. 9 is a flowchart illustrating a method in which a monitoringapparatus performs re-driving in a monitoring system according tovarious embodiments.

DETAILED DESCRIPTION

Reference will now be made in detail to embodiments, examples of whichare illustrated in the accompanying drawings, wherein like referencenumerals refer to like elements throughout. In this regard, theembodiments of the present disclosure may have different forms andshould not be construed as being limited to the descriptions set forthherein. Accordingly, non-limiting example embodiments are describedbelow, by referring to the figures, to explain aspects of the presentdescription. As used herein, the term “and/or” includes any and allcombinations of one or more of the associated listed items. Expressionssuch as “at least one of,” when preceding a list of elements, modify theentire list of elements and do not modify the individual elements of thelist.

The terms used in the present disclosure are merely used to describeparticular embodiments, and are not intended to limit the presentdisclosure. An expression used in the singular encompasses theexpression of the plural, unless it has a clearly different meaning inthe context. Terms used herein, including technical or scientific terms,may have the same meanings as commonly understood by one of ordinaryskill in the art described in the present disclosure. Among the termsused in the present disclosure, terms defined in a general dictionarymay be interpreted as the same or similar meaning to the meaning in thecontext of the related art, and unless explicitly defined in the presentdisclosure, the terms are not to be construed in an ideal or overlyformal sense. In some cases, even terms defined in the presentdisclosure may not be construed to exclude embodiments of the presentdisclosure.

In various embodiments of the present disclosure described below, ahardware access method is described as an example. However, becausevarious embodiments of the present disclosure include technology usingboth hardware and software, various embodiments of the presentdisclosure do not exclude a software-based approach.

Embodiments of the present disclosure relate to an apparatus and methodfor automatically detecting a target by interlocking a monitoring areaof a monitoring apparatus and a target position in a monitoring system.In particular, embodiments of the present disclosure include a techniquefor increasing the accuracy of interlocking the monitoring area of themonitoring apparatus and the target position in the monitoring system.

Hereinafter, various embodiments are described in detail with referenceto the accompanying drawings so that one of ordinary skill in the art towhich the present disclosure pertains may easily implement embodimentsof the present disclosure. However, because embodiments of the presentdisclosure may be modified and implemented in various forms, it is notlimited to the embodiments described in the present disclosure. In thebelow description, when it is deemed that a detailed description of arelated known technology may obscure the essence of the presentdisclosure, a detailed description of the known technology is omitted.The same or similar components are given the same reference numerals,and redundant descriptions thereof are omitted.

In the present disclosure, when an element is described as being“connected” with another element, a case where the elements are“directly connected” is included, and a case where the elements are“indirectly connected” with another element therebetween is alsoincluded. When an element “includes” another element, another elementmay be further included, rather than excluding the existence of theother element, unless otherwise described.

Some embodiments may be described in terms of functional blockcomponents and various processing steps. Such functional blocks may berealized by any number of hardware and/or software components configuredto perform the specified functions. For example, the functional blocksof embodiments of the present disclosure may be implemented by one ormore microprocessors, or may be implemented by circuit components for agiven function. The functional blocks of embodiments of the presentdisclosure may be implemented in various programming or scriptinglanguages. The functional blocks of embodiments of the presentdisclosure may be implemented as an algorithm being executed on one ormore processors. A function performed by a functional block of thepresent disclosure may be performed by a plurality of functional blocks,or functions performed by a plurality of functional blocks inembodiments of the present disclosure may be performed by one functionalblock. In addition, embodiments of the present disclosure may employ therelated art for electronic environment setting, signal processing,and/or data processing.

In addition, in the present disclosure, in order to determine whether aspecific condition is satisfied or fulfilled, an expression of more thanor less than is used, but this is only a description to express anexample, and does not exclude the descriptions of more than or equal to,and less than or equal to. Conditions described as “more than or equalto” may be replaced with “more than,” and vice versa. Conditionsdescribed as “less than or equal to” may be replaced with “less than,”and vice versa.

FIG. 1 shows a monitoring system 100 according to various embodiments.

The monitoring system 100 instructs a system which collects variouspieces of information by using a monitoring apparatus mounted on anartificial satellite, an unmanned aerial vehicle, a robot, or the like,and by using units such as an optical camera, an infrared camera, orradio waves like microwaves. Friendly forces may respond to riskcomponents of enemy forces by using a monitoring system to secure amonitoring image related to a target. Referring to FIG. 1 , recently,due to the diversification of weapon systems, a monitoring system inwhich a monitoring apparatus is mounted on a moving object to monitor atarget, and a separate operating apparatus distinct from the monitoringapparatus controls an operation of the monitoring apparatus on theground, has been widely used. Accordingly, the monitoring system 100 mayinclude a moving object 101, a monitoring apparatus 111, and anoperating apparatus 121.

The moving object 101 refers to a moving object that performs a missionof the friendly forces. The moving object 101 may be mounted with themonitoring apparatus 111 to perform a mission of monitoring a target,and may perform a function of moving the monitoring apparatus 111 tocoordinates of a desired position. Referring to FIG. 1 , although anunmanned aerial vehicle is described as the moving object 101, themoving object 101 may indicate any form of a movable robot such as atank or other vehicles.

The monitoring apparatus 111 refers to an apparatus that is configuredto perform a direct mission of detecting and monitoring a target. Themonitoring apparatus 111 may be mounted on the moving object 101 andmove together with the moving object 101. Here, mounting may includeboth an arrangement inside the moving object 101 and an arrangement ofbeing attached to the outside of the moving object 101. The monitoringapparatus 111 may include a monitoring sensor such as a monitoringcamera, and a driving body for adjusting an orientation direction of themonitoring sensor. The monitoring apparatus 111 may be mounted on themoving object 101 to move to a mission performance position, and performa monitoring mission by driving the monitoring sensor to adjust todirect a direction of target coordinates. Hereinafter, a case in whichthe monitoring apparatus 111 is mounted on the moving object 101 andoperates is described, but the monitoring apparatus 111 may be fixed onthe ground to perform the same operation without being mounted on themoving object 101.

The operating apparatus 121 controls the monitoring apparatus 111mounted on the moving object 101 and performs a function of generallyoperating the monitoring system 100. The operating apparatus 121 may beconnected to the monitoring apparatus 111 by wire or wirelessly to shareinformation with the monitoring apparatus 111. FIG. 1 illustrates a casein which the operating apparatus 121 is connected to two of monitoringapparatus 111, but the number of the monitoring apparatus 111 connectedto the operating apparatus 121 may be freely changed according toembodiments. In addition, the operating apparatus 121 may receiveinformation from the user and may be driven under the control of theuser. The operating apparatus 121 may generate a signal for controllinga driving operation of the monitoring apparatus 111, based oninformation shared with the monitoring apparatus 111 and a user input.Thereafter, the operating apparatus 121 may transmit the generatedcontrol signal to the monitoring apparatus 111.

In the monitoring system 100, the operating apparatus 121 may obtaintarget coordinates by using a method of receiving a direct input fromthe user or a method of receiving a separate signal. According to anembodiment of the present disclosure, coordinates may includecoordinates related to latitude, longitude, and altitude. Then, theoperating apparatus 121 may determine a field of view (FOV) foradjusting a driving angle and a monitoring area of the monitoringapparatus 111 to position a target in a monitoring image using themonitoring apparatus 111. The monitoring apparatus 111 may monitor atarget by receiving a driving angle and an interlocking FOV determinedby the operating apparatus 121, and driving the monitoring apparatus 111to correspond to the driving angle and the interlocking FOV.

FIG. 2 shows a configuration 200 of a monitoring apparatus and anoperating apparatus in the monitoring system 100, according to variousembodiments. “ . . . unit”, “-er”, or the like used hereinafter refersto a unit that processes at least one function or operation, which maybe implemented as hardware or software, or a combination of hardware andsoftware. Referring to FIG. 2 , the monitoring system 100 includes themonitoring apparatus 111 mounted on the moving object 101, and anoperating apparatus 121 for operating the monitoring apparatus 111.

The monitoring apparatus 111 performs a function of monitoring a targetby using a monitoring sensor. According to an embodiment of the presentdisclosure, the monitoring apparatus 111 may include at least one camera210 and 203 configured to capture an image of a visible light area orinfrared area with respect to a target, an inclinometer 205 configuredto auxiliary measure an inclination of the monitoring apparatus 111, ahigh-low driving body 207 configured to drive the monitoring apparatus111 in a high-low direction, a distance measuring unit 209 aligned withthe at least one camera 210 and 203 and configured to measure a distanceof the target, a satellite and inertial navigation sensor 211 configuredto measure coordinate information and inclination information of themoving object 101, and a turning driving body 213 configured to drivethe monitoring apparatus 111 in a turning direction. Here, theinclination information may include information on a heading angle(e.g., a yaw angle), a roll angle, and a pitch angle.

According to embodiments of the present disclosure, the high-low drivingbody 207 may comprise at least one motor that is configured to actuateat least a portion of the monitoring apparatus 111 (e.g., the at leastone camera 201 and 203) to pitch by rotating around a pitch axis.

According to embodiments of the present disclosure, the turning drivingbody 213 may comprise at least one motor that is configured to actuateat least a portion of the monitoring apparatus 111 (e.g., the at leastone camera 201 and 203) to yaw by rotating around a yaw axis.

According to an embodiment of the present disclosure, the at least onecamera 201 and 203 may be applied with continuous zoom or step-by-stepzoom having a variable FOV of several degrees (°) to several tens ofdegrees, and the FOV may be manually or automatically adjusted based onthe operating apparatus 121. In addition, the inclinometer 205 and thesatellite and inertial navigation sensor 211 may measure latitude,longitude, and altitude values, and heading angles, pitching angles, androll angles of the monitoring apparatus 111.

According to an embodiment of the present disclosure, the monitoringapparatus 111 may determine the inclination accuracy and the inclinationwith respect to a sensor error by using the inclinometer 205 and thesatellite and inertial navigation sensor 211. Also, the monitoringapparatus 111 may be connected to the operating apparatus 121 by wire orwirelessly to share information with the operating apparatus 121.According to an embodiment of the present disclosure, the monitoringapparatus 111 may receive information on a driving angle and aninterlocking FOV from the operating apparatus 121. In addition, themonitoring apparatus 111 may be controlled to direct the at least onecamera 201 and 203 to a target direction by using the high-low drivingbody 207 and the turning driving body 213, and may monitor a target.

FIG. 2 illustrates a case in which all components are provided in themonitoring apparatus 111, but the configuration may vary according toembodiments. According to an embodiment of the present disclosure, theinclinometer 205 may not be mounted on the monitoring apparatus 111, andthe satellite and inertial navigation sensor 211 may be mounted on themoving object 101, separately from the monitoring apparatus 111.

The operating apparatus 121 generates a control signal for driving themonitoring apparatus 111 and performs a function of generally operatingthe monitoring system 100. The operating apparatus 121 may be mounted ata remote location outside the moving object 101, may be connected to themonitoring apparatus 111 by wire or wirelessly, and may transmit asignal for controlling the driving of the monitoring apparatus 111.According to an embodiment of the present disclosure, the operatingapparatus 121 may include a display and control computer 261 configuredto display a status of the monitoring system 100 and generate a controlsignal, a manipulating apparatus 263 configured to manipulate theoperating apparatus 121, and a network apparatus (not shown) configuredto communicate and connect to the monitoring apparatus 111.

According to an embodiment of the present disclosure, the operatingapparatus 121 may receive monitoring information from the monitoringapparatus 111 via a control computer and obtain target information fromthe user. Here, the target information may include information on targetcoordinates and a target shape. Then, the operating apparatus 121 maydetermine the driving accuracy by using an initial setting of theinclinometer 205, the satellite and inertial navigation sensor 211, orthe like, and a measurement error value. According to an embodiment ofthe present disclosure, the operating apparatus 121 may calculate thedriving accuracy by using a measurement error and coordinatetransformation of the inclinometer 205, the satellite and inertialnavigation sensor 211, or the like. The operating apparatus 121 maydetermine an interlocking FOV such that an FOV set in the at least onecamera 201 and 203 is greater than a driving accuracy range of themonitoring apparatus 111. The operating apparatus 121 may use anartificial intelligence-based automatic detection function to preset asize of an area of a target according to a shape of the target, whichmay be used to determine an interlocking FOV of a monitoring camera, sothat the detection of the target is automatically performed afterinterlocking target coordinates. Here, the monitoring information mayinclude information on coordinates, inclination, and inclinationaccuracy of the monitoring apparatus 111, and the driving informationmay include information on a driving angle and driving accuracy. Thedriving angle may include information on a turning angle and a high-lowangle for driving the monitoring apparatus 111, and the driving accuracymay include information on a turning angle error and a high-low angleerror.

FIG. 3 shows a schematic diagram 300 of functions of the monitoringapparatus 111 and the operating apparatus 121 in the monitoring system100 according to various embodiments. FIG. 3 shows an internalconfiguration of the monitoring apparatus 111 and the operatingapparatus 121.

The monitoring apparatus 111 may include a communication unit 310, astorage unit 320, and a controller 330. The operating apparatus 121 mayinclude a communication unit 360, a storage unit 370, and a controller380.

The communication unit 310 and the communication unit 360 performfunctions of transmitting a receiving signals via wired or wirelesschannels. The communication unit 310 and the communication unit 360 maybe referred to as a transmitter, a receiver, and/or a transceiver.According to embodiments, each of the two communication units 310 and360 may include any one or any combination of a digital modem, a radiofrequency (RF) modem, a WiFi chip, and related software and/or firmware.According to an embodiment of the present disclosure, the communicationunit 310 of the monitoring apparatus 111 may transmit monitoringinformation to the operating apparatus 121, and receive information on adriving angle and an interlocking FOV from the operating apparatus 121.

The storage unit 320 and the storage unit 370 perform a function ofstoring data such as a basic program, an application program, andsetting information for an operation of the monitoring apparatus 111 andthe operating apparatus 121, respectively. Each of the storage unit 320and the storage unit 370 is a non-transitory computer-readable recordingmedium, and may include random access memory (RAM), read only memory(ROM), and permanent mass storage devices such as disk drives. Inaddition, the storage unit 320 and the storage unit 370 may providestored data according to requests of the controller 330 and thecontroller 380, respectively.

The controller 330 and the controller 380 may control overall operationsof the monitoring apparatus 111 and the operating apparatus 121,respectively. For example, the controller 330 and the controller 380 maytransmit and receive signals through the communication unit 310 and thecommunication unit 360, respectively. In addition, the controller 330and the controller 380 may record data in the storage unit 320 and thestorage unit 370. According to various embodiments of the presentdisclosure, the controller 330 of the monitoring apparatus 111 maycontrol to transmit monitoring information to the operating apparatus121 and receive a driving angle and an interlocking FOV from theoperating apparatus 121. Thereafter, the controller 330 of themonitoring apparatus 111 may adjust a pointing direction of a monitoringcamera (e.g., the at least one camera 201 and 203) and determine whetherthe monitoring apparatus 111 performs re-driving, by using the drivingangle and the interlocking FOV. The controller 380 of the operatingapparatus 121 may control to receive monitoring information from themonitoring apparatus 111. In addition, the controller 380 of theoperating apparatus 121 may calculate a driving angle and aninterlocking FOV, based on monitoring information and targetinformation, and transmit the driving angle and the interlocking FOV tothe monitoring apparatus 111. According to embodiments, each of the twocontroller 330 and 380 may include or may be implemented by a processorsuch as a central processing unit (CPU) that performs the respectivefunctions, a microprocessor, or the like that implements a softwaremodule of programs or codes, which contains one or more executableinstructions for performing the above-described control functions.

FIG. 4 is a flowchart 400 illustrating an operating method of themonitoring system 100 according various embodiments. Referring to FIG. 4, an operating method of the monitoring apparatus 111 and the operatingapparatus 121 of the monitoring system 100 is described.

Referring to FIG. 4 , in operation 401, the operating apparatus 121obtains target information from an outside. The operating apparatus 121may start target interlocking and obtain target information from theuser. Here, the target information may include information on targetcoordinates and a target shape. According to an embodiment of thepresent disclosure, the operating apparatus 121 may start coordinateinterlocking by a user using the display and control computer 261 or themanipulating apparatus 263, and may receive target information by usinga network device or receive target information from the user. Accordingto an embodiment of the present disclosure, target coordinates mayinclude coordinates related to latitude, longitude, and altitude of thetarget, and the target shape may include a shape of any target of enemyforces such as a person, a vehicle, a tank, an aircraft, an antiaircraftweapon unit, or the like. According to an embodiment of the presentdisclosure, when the target shape is not specified, a preset horizontallength and target size may be applied.

In operation 403, the monitoring apparatus 111 transmits monitoringinformation to the operating apparatus 121. The monitoring apparatus 111may transmit coordinate information of the monitoring apparatus 111,information on coordinates of the monitoring apparatus 111 from theinclinometer 205 and the satellite and inertial navigation sensor 211,information on inclination and inclination accuracy with respect to amonitoring sensor (e.g., the at least one camera 201 and 203) to theoperating apparatus 121. According to an embodiment of the presentdisclosure, the monitoring information may include information oncoordinates, inclination, and inclination accuracy of the monitoringapparatus 111. Here, the inclination may include information on aheading angle, a roll angle, and a pitch angle of the monitoringapparatus 111, and the inclination accuracy may include sensor errorinformation.

In operation 405, the operating apparatus 121 determines drivinginformation, based on the target information and the monitoringinformation. The operating apparatus 121 may calculate a driving angle,a driving accuracy, and a target distance, based on the targetinformation and the monitoring information. The operating apparatus 121may determine a driving angle for arranging a target to the center of animage by using coordinate transformation from the target information andthe monitoring information. According to an embodiment of the presentdisclosure, the driving angle may include information on a turning angleand a height angle. In addition, the operating apparatus 121 may storean error table corresponding to an inclination in advance, and maydetermine the driving accuracy by using the inclination accuracy,included in the monitoring information, and the error table. Accordingto an embodiment of the present disclosure, the driving accuracy mayinclude information on a turning error and a height error. In addition,the operating apparatus 121 may determine a distance between the targetand the monitoring apparatus 111, based on a distance measured by thedistance measuring unit 209 of the monitoring apparatus 111.

In operation 407, the operating apparatus 121 determines an interlockingFOV, based on the driving information. The operating apparatus 121 maydetermine the interlocking FOV of the monitoring apparatus 111 by usingthe driving accuracy and the target distance. That is, the operatingapparatus 121 may determine an interlocking FOV for adjusting amonitoring area by using a magnification adjustment of the monitoringcamera. According to an embodiment of the present disclosure, theinterlocking FOV may include a horizontal field of view (HFOV).According to an embodiment of the present disclosure, when a pluralityof monitoring cameras are included in the monitoring apparatus 111 and aplurality of camera images are simultaneously output to the operatingapparatus 121, an FOV may be adjusted differently for each of theplurality of monitoring cameras.

In operation 409, the operating apparatus 121 transmits the drivingangle and the interlocking FOV to the monitoring apparatus 111. Theoperating apparatus 121 may transmit information related to the turningangle and the height angle of the monitoring apparatus 111 and theinterlocking FOV for adjusting the magnification of the monitoringcamera to the monitoring apparatus 111.

In operation 411, the monitoring apparatus 111 adjusts a pointingdirection of the monitoring camera, based on the driving angle.According to an embodiment of the present disclosure, the monitoringapparatus 111 may rotate a pointing angle of the monitoring camera byusing the turning driving body 213 and the high-low driving body 207 tocorrespond to the turning angle and the height angle. Accordingly, themonitoring camera of the monitoring apparatus 111 may be arranged topoint to a target direction.

In operation 413, the monitoring apparatus 111 adjusts an FOV of themonitoring camera, based on the interlocking FOV. According to anembodiment of the present disclosure, the monitoring apparatus 111 mayadjust at least one of a zoom magnification and a focus magnification ofthe monitoring camera to correspond to the interlocking FOV.Accordingly, the HFOV of the monitoring camera may be adjusted to be thesame as the interlocking FOV. According to an embodiment of the presentdisclosure, when the monitoring camera is in the form of a calculatedzoom, the zoom and focus magnification may be adjusted to a position ofan FOV of a monitoring camera, which is closest to the interlocking FOVof the monitoring apparatus 111.

In operation 415, the monitoring apparatus 111 performs re-driving basedon whether the target is positioned in the monitoring area using themonitoring camera. Re-driving may refer to driving that detects a targetby adjusting the pointing direction of the monitoring camera. Afterinterlocking the target coordinates, the monitoring apparatus 111 mayidentify whether a target exists in the monitoring image. According toan embodiment of the present disclosure, the monitoring apparatus 111may obtain a result determined by the user's eyes or a result obtainedby an automatic detection mode of the operating apparatus 121.Thereafter, the monitoring apparatus 111 may end coordinate interlockingwhen the monitoring apparatus 111 identifies that the target ispositioned in the monitoring area. However, when the monitoringapparatus 111 identifies that the target is not positioned in themonitoring area, the monitoring apparatus 111 may perform re-driving. Adetailed re-driving method is described in detail with reference to FIG.5 .

FIG. 5 is a schematic diagram 500 illustrating a re-driving method inthe monitoring system 100 according to various embodiments. FIG. 5illustrates a driving pattern related to an operation of the monitoringapparatus 111.

After target coordinates are interlocked, when a target position ischanged or the target does not exist in an image area of a monitoringcamera from the beginning due to a driving error, the monitoringapparatus 111 may perform re-driving. According to an embodiment of thepresent disclosure, the monitoring apparatus 111 may adjust a pointingdirection of the monitoring camera according to a preset drivingpattern. Referring to a first driving pattern 510, a first area 511refers to a monitoring area of the monitoring camera according to acurrent driving angle and an interlocked FOV. When the monitoringapparatus 111 identifies that the target does not exist in the firstarea 511, the monitoring apparatus 111 changes the pointing direction ofthe monitoring camera to a second area 512 according to the firstdriving pattern 510. When the monitoring apparatus 111 identifies thatthe target also does not exist in the second area 512, the monitoringapparatus 111 may sequentially change the pointing direction of themonitoring camera to third to fifth areas 513 to 515. In the same way,referring to second to fourth driving patterns 520, 530, and 540, shadedportions refer to monitoring areas according to a current driving angleand an interlocking FOV, and the pointing direction of the monitoringcamera may be changed in an order shown in each of driving patterns. Themonitoring camera may search for a target through an operation ofchanging the pointing direction of the monitoring camera. Although notshown in FIG. 5 , when the target is not positioned in a monitoringimage, and the monitoring apparatus 111 performs re-driving, the HFOV ofthe monitoring camera may be enlarged by a present size. The target mayalso be searched through an operation of changing the pointing directionof the monitoring camera by using an enlarged monitoring areathereafter.

After the target coordinates are interlocked, when the target abruptlyexits in an area of an image of the monitoring camera after the targetis positioned in the image of the monitoring camera, the monitoringapparatus 111 may perform re-driving. According to an embodiment of thepresent disclosure, the monitoring apparatus 111 may track the target bychecking a moving speed and a moving direction of the target. That is,in a situation in which the target is positioned in an image, themonitoring apparatus 111 may check a first target position in themonitoring area at a first time and a second target position in amonitoring image at a second time. Thereafter, the monitoring apparatus111 may determine a speed of the target in the monitoring image by usinga time interval between the first time and the second time, the firsttarget position, and the second target position. Thereafter, themonitoring apparatus 111 may predict a target position on the basis ofthe speed of the target, and adjust the pointing direction of themonitoring camera in the predicted direction.

FIG. 6 is a flowchart 600 illustrating an operating method of theoperating apparatus 121 in the monitoring system 100 according tovarious embodiments. FIG. 6 illustrates an operating method of theoperating apparatus 121 in the monitoring system 100, wherein themonitoring system 100 includes the monitoring apparatus 111 mounted on amoving object and configured to detect a target, and the monitoringsystem 100 further includes the operating apparatus 121 configured tooperate the monitoring apparatus 111.

Referring to FIG. 6 , in operation 601, the operating apparatus 121obtains target information from an outside. The operating apparatus 121may start coordinate interlocking and receive the target information orreceive the target information input by a user. According to anembodiment of the present disclosure, the target information may includetarget coordinates and a target shape. The target coordinates mayinclude coordinates relating to latitude, longitude, and altitude of thetarget, and the target shape may include a shape of a target of enemyforces such as a person, a vehicle, a tank, an aircraft, ananti-aircraft weapon unit, or the like.

In operation 603, the operating apparatus 121 receives monitoringinformation from the monitoring apparatus 111. The operating apparatus121 may receive, from the monitoring apparatus 111, information oncoordinates of the monitoring apparatus 111, and an inclination andinclination accuracy with respect to a monitoring sensor.

According to an embodiment of the present disclosure, the monitoringinformation includes coordinates, inclination, and inclination accuracyof the monitoring apparatus 111, the inclination may include at leastone of a heading angle, a roll angle, and a pitch angle, and theinclination accuracy may include a sensor error of the monitoringapparatus 111.

In operation 605, the operating apparatus 121 determines drivinginformation for driving the monitoring apparatus 111 so that the targetis positioned in the monitoring area of the monitoring apparatus 111,based on the target information and the monitoring information. Theoperating apparatus 121 may calculate a driving angle, a drivingaccuracy, and a target distance, based on the target information and themonitoring information. The operating apparatus 121 may determine adriving angle for arranging a target to the center of an image by usingcoordinate transformation from the target information and the monitoringinformation. In addition, the operating apparatus 121 may determine thedriving accuracy by using an error table corresponding to theinclination and the inclination accuracy. Also, the operating apparatus121 may determine a distance between the target and the monitoringapparatus 111.

According to an embodiment of the present disclosure, the drivinginformation may include a driving angle, a driving accuracy, and atarget distance, wherein the driving angle may include information on aturning angle and a height angle related to the driving of themonitoring apparatus 111. The driving accuracy may include a turningerror, with respect to the turning angle, and a height error, withrespect to the height angle. The target distance may include a distancebetween the target and the monitoring apparatus 111.

In operation 607, the operating apparatus 121 determines an interlockingFOV for adjusting the monitoring area on the basis of the drivinginformation. According to an embodiment of the present disclosure, theoperating apparatus 121 may determine an interlocking FOV for adjustingthe monitoring area by using a magnification adjustment of themonitoring camera, based on the driving accuracy and the targetdistance. A method of determining a particular interlocking FOV isdescribed in detail below with reference to FIG. 7 .

In operation 609, the operating apparatus 121 transmits the interlockingFOV and the driving angle based on the driving information to themonitoring apparatus 111. The operating apparatus 121 may transmit thedriving angle included in the driving information determined inoperation 605 and the interlocking FOV determined in operation 607 tothe monitoring apparatus 111. The monitoring apparatus 111 may controlthe driving of the monitoring camera to correspond the received drivingangle and the interlocking FOV.

FIG. 7 is a flowchart 700 illustrating a method in which the operatingapparatus 121 determines an interlocking FOV in the monitoring system100 according to various embodiments. FIG. 7 illustrates a method ofdetermining an interlocking FOV of operation 607 in FIG. 6 .

The operating apparatus 121 may determine an initial interlocking FOV onthe basis of a turning error and a height error of driving accuracy, andmay determine an interlocking FOV from the initial interlocking FOV,based on an operation mode of the operating apparatus 121. Here, theoperation mode may indicate one of an automatic detection mode and ageneral detection mode.

Referring to FIG. 7 , in operation 701, the operating apparatus 121compares a turning error with a height error. A comparison between aturning error and a height error may be determined based on Equation 1,below.

$\begin{matrix}{\rho_{err} \geq {\theta_{err}\frac{H_{n}}{V_{n}}}} & \left\lbrack {{Equation}1} \right\rbrack\end{matrix}$

Referring to Equation 1, λ_(err) refers to a turning error, θ_(err)refers to a height error, H_(n) refers to a horizontal resolution of amonitoring camera, and V_(n) refers to a vertical resolution of themonitoring camera. The operating apparatus 121 may identify whether theturning error is greater than or equal to a mathematical combination ofthe height error and a ratio of the horizontal resolution to thevertical resolution of the monitoring apparatus 111.

According to an embodiment of the present disclosure, when the turningerror is greater than or equal to the mathematical combination of theheight error and the ratio of the horizontal resolution to the verticalresolution of the monitoring apparatus 111, the operating apparatus 121may proceed to operation 703 to determine the turning error as aninitial interlocking FOV HFOV_(initial). According to another embodimentof the present disclosure, when the turning error is less than the ratioof the horizontal resolution to the vertical resolution of themonitoring apparatus 111 is considered, the operating apparatus 121 mayproceed to operation 705 and determine the mathematical combination ofthe height error and the ratio of the horizontal resolution to thevertical resolution of the monitoring apparatus 111 as an initialinterlocking FOV HFOV_(initial). According to an embodiment of thepresent disclosure, because a driving accuracy may be caused by an errorin a positive (+) direction or a negative (−) direction, a height errorin which a direction of the height error is considered may be reflectedto be twice an error value.

In operation 707, the operating apparatus 121 may identify whether anoperation mode thereof is an automatic detection mode. According to anembodiment of the present disclosure, the automatic detection mode mayinclude a mode that determines an interlocking FOV on the basis of arequired FOV according to a target shape, and the general detection modemay include a mode that determines an interlocking FOV, based on apreset target position range value.

According to an embodiment of the present disclosure, when the operationmode of the operating apparatus 121 is the automatic detection mode, theoperating apparatus 121 proceeds to operation 709 and determines an areasize of a target, based on the target shape and preset area information.According to an embodiment of the present disclosure, when the operatingapparatus 121 identifies that the operation mode of the operatingapparatus 121 is not the automatic detection mode, the operatingapparatus 121 may proceed to operation 717 and determine theinterlocking FOV on the basis of the initial interlocking FOV and thepreset target position range value.

In operation 709, the operating apparatus 121 determines the area sizeof the target based on the target shape and the preset area information.The operating apparatus 121 may determine an area size S_(t) of thetarget by using the target information received from the monitoringapparatus 111 and the size for each shape type stored in advance.According to an embodiment of the present disclosure, the operatingapparatus 121 may identify the target as a human shape and determine thearea size of the target in an image by using a pre-stored size of thehuman shape.

In operation 711, the operating apparatus 121 determines a number ofdetection pixels, based on the target shape and preset pixel numberinformation. The operating apparatus 121 may determine the number ofdetection pixels of the target by using the target shape and thepre-stored number of pixels for each pixel shape. According to anembodiment of the present disclosure, the operating apparatus 121 mayidentify the target as a human shape and check a number P_(t) of targetpixels corresponding to the human shape.

In operation 713, the operating apparatus 121 determines a Required FOVfor detection on the basis of the area size, the number of detectionpixels, the target distance, and the horizontal resolution of themonitoring camera. The operating apparatus 121 may calculate theRequired FOV for detection for automatic detection by using the areasize determined in operation 709 and the number of detection pixelsdetermined in operation 711. The required FOV for detection may bedetermined based on Equation 2, below.

$\begin{matrix}{{{HFOV}2} = \frac{2 \times {\tan^{- 1}\left( {{S_{t} \div 2}x} \right)} \times H_{n}}{P_{t}}} & \left\lbrack {{Equation}2} \right\rbrack\end{matrix}$

Referring to Equation 2, HFOV2 refers to a required FOV for detection,S_(t) refers to an area size, P_(t) refers to a number of detectionpixels, x refers to a target distance, and H_(n) refers to a horizontalresolution.

In operation 715, the operating apparatus 121 determines theinterlocking FOV, based on the required FOV for detection HFOV2 and theinitial interlocking FOV HFOV_(initial). The operating apparatus 121 maydetermine a final interlocking FOV by comparing the required FOV fordetection HFOV2 with the initial interlocking FOV HFOV_(initial).According to an embodiment of the present disclosure, when the requiredFOV for detection HFOV2 is greater than or equal to the initialinterlocking FOV HFOV_(initial), the operating apparatus 121 maydetermine the required FOV for detection HFOV2 as the interlocking FOV.According to an embodiment of the present disclosure, when the requiredFOV for detection HFOV2 is less than the initial interlocking FOVHFOV_(initial), the operating apparatus 121 may determine the initialinterlocking FOV HFOV_(initial) as the interlocking FOV. Thereafter,when a target is detected in a monitoring image in the automaticdetection mode, the monitoring apparatus may be re-driven so that thetarget is positioned in the center of the monitoring image.

In operation 717, the operating apparatus 121 determines theinterlocking FOV, based on the initial interlocking FOV HFOV_(initial)and the preset target position range value. When the operating apparatus121 identifies that the operation mode thereof is not the automaticdetection mode, the operating apparatus 121 identifies the operationmode thereof as the general operation mode. In particular, the operatingapparatus 121 may determine the interlocking FOV, based on the targetposition range value.

According to an embodiment of the present disclosure, the operatingapparatus 121 may determine an area in which the target is to bepositioned within the monitoring image. Thereafter, the operatingapparatus 121 may position the target in the area corresponding to thetarget position range value within the monitoring image. In the generaldetection mode, the interlocking FOV may be determined as in Equation 3,below.

$\begin{matrix}{{HFOV} = \frac{{HFOV}_{initial}}{k}} & \left\lbrack {{Equation}3} \right\rbrack\end{matrix}$

Referring to Equation 3, HFOV refers to an interlocking FOV,HFOV_(initial) refers to an initial interlocking FOV, and k refers to atarget position range value.

According to an embodiment of the present disclosure, the operatingapparatus 121 may determine an area in which the target is locatedwithin the monitoring image (e.g., a central area of the monitoringimage), and the target position range value k may have a value of 0.05.At this time, the operating apparatus 121 may determine a target rangeso that the area in which the target is located does not exceed 5% of anentire image area in an entire monitoring image.

FIG. 8 is a flowchart 800 illustrating an operating method of themonitoring apparatus 111 in the monitoring system 100 according tovarious embodiments.

Referring to FIG. 8 , in operation 801, the monitoring apparatus 111transmits monitoring information to the operating apparatus 121. Themonitoring apparatus 111 may transmit coordinate information of themonitoring apparatus 111, information on coordinates of the monitoringapparatus 111 from the inclinometer 205, and the satellite and inertialnavigation sensor 211, information on inclination and inclinationaccuracy with respect to a monitoring sensor to the operating apparatus121.

In operation 803, the monitoring apparatus 111 receives a driving angleand an interlocking FOV from the operating apparatus 121. According toan embodiment of the present disclosure, the monitoring apparatus 111may receive, from the operating apparatus 121, driving informationrelated to a turning angle and a height angle and the interlocking FOVfor adjusting the magnification of a monitoring camera.

According to an embodiment of the present disclosure, the driving anglemay include information for driving the monitoring apparatus 111 toposition a target in a monitoring area of the monitoring apparatus 111,and the interlocking FOV may include an FOV for adjusting the monitoringarea.

In operation 805, the monitoring apparatus 111 adjusts a pointingdirection of the monitoring camera on the basis of the driving angle.The monitoring apparatus 111 may rotate an angle of the monitoringapparatus 111 by using a turning driving body and a height driving bodyto correspond to the turning angle and the height angle.

In operation 807, the monitoring apparatus 111 adjusts an FOV of themonitoring camera on the basis of the interlocking FOV. According to anembodiment of the present disclosure, the monitoring apparatus 111 mayadjust at least one of a zoom magnification and a focus magnification ofthe monitoring camera to correspond to the interlocking FOV. Thereafter,the monitoring apparatus 111 may identify whether the target ispositioned in the monitoring area of the monitoring image using themonitoring camera, and perform re-driving for tracking the target whenthe monitoring apparatus 111 determines that the target is notpositioned in the monitoring area.

FIG. 9 is a flowchart 900 illustrating a method in which the monitoringapparatus 111 performs re-driving in the monitoring system 100 accordingto various embodiments.

Referring to FIG. 9 , in operation 901, the monitoring apparatus 111identifies whether a target is positioned in a monitoring area of amonitoring image using a monitoring camera. The monitoring apparatus 111identifies whether the target is positioned in an image captured by themonitoring camera after adjusting a pointing direction of the monitoringcamera on the basis of the received driving angle and an interlockingFOV.

According to an embodiment of the present disclosure, the monitoringapparatus 111 may obtain a determination result of a user or theoperating apparatus 121 regarding whether a time period in which thetarget is positioned in the monitoring area exists. Thereafter, themonitoring apparatus 111 may end coordinate interlocking when themonitoring apparatus 111 identifies that there is a time period in whichthe target is positioned in the monitoring area. According to anotherembodiment of the present disclosure, when the monitoring apparatus 111determines that the target is not positioned in the monitoring area, themonitoring apparatus 111 may perform an operation of tracking thetarget.

In operation 903, the monitoring apparatus 111 identifies whether thereis a time period in which the target is positioned in the monitoringarea. After the target coordinates are interlocked, a target positionedmay be changed or the target may not exist in an image of the monitoringcamera from the beginning due to a driving error. In addition, thetarget may abruptly exit an image of the monitoring camera after thetarget is positioned in an area of an image of the monitoring camera.The monitoring apparatus 111 may perform re-driving differentlydepending on whether there is a time period in which the target ispositioned in the area of the image of the monitoring camera. Accordingto an embodiment of the present disclosure, when there is no time periodin which the target is positioned in the monitoring area, the monitoringapparatus 111 may proceed to operation 905 and adjust the pointingdirection of the monitoring camera on the basis of at least one presetdriving pattern.

According to another embodiment of the present disclosure, when there isa time period in which the target is positioned in the monitoring area,the monitoring apparatus 111 may proceed to operation 907 to track thetarget on the basis of an image of the time period in which the targetis positioned, and adjust the pointing direction of the monitoringcamera. The monitoring apparatus 111 may determine a first targetposition in a monitoring area at a first time, determine a second targetposition in the monitoring area at a second time after the first time,predict a position of the target on the basis of the first targetposition, the second target position, and a time interval between thefirst time and the second time, and adjust the pointing direction of themonitoring camera to a predicted target direction.

Methods according to the embodiments described in the present disclosuremay be implemented in a form of hardware, software, or a combination ofhardware and software.

When implemented in software, a computer-readable storage medium storingone or more programs (software modules) may be provided. The one or moreprograms stored in the computer-readable storage medium are configuredto be executable by one or more processors in an electronic device. Theone or more programs include instructions for causing an electronicdevice to execute methods according to embodiments described in thepresent disclosure.

Such programs (software modules, software) may be stored in randomaccess memory, non-volatile memory including flash memory, read onlymemory (ROM), electrically erasable programmable ROM (EEPROM), amagnetic disc storage device, compact disc-ROM (CD-ROM), digitalversatile discs (DVDs), another type of optical storage device, and amagnetic cassette. Alternatively, the programs may be stored in a memorycomposed of a combination of some or all of the above-stated memories.In addition, each configuration memory may be included in plurality.

In addition, the programs may be stored in an attachable storage devicewhich may be accessed through a communication thereof such as theInternet, intranet, local area network (LAN), wide area network (WAN),or storage area network (SAN), or a combination thereof. Such a storagedevice may be connected to an apparatus implementing an embodiment ofthe present disclosure through an external port. In addition, a separatestorage device on a communication network may be also connected to anapparatus implementing an embodiment of the present disclosure.

In particular embodiments of the present disclosure described above,components included in the disclosure are expressed in the singular orplural according to particular embodiments presented. However, thesingular or plural expression is appropriately selected for the contextpresented for convenience of description, and embodiments of the presentdisclosure are not limited to the singular or plural component, and evenwhen a component is expressed in plural, it may be composed of asingular, or even if a component is expressed in a singular, it may becomposed of a plurality.

An apparatus and method according to various embodiments of the presentdisclosure may automatically detect a target by interlocking amonitoring area of a monitoring apparatus and a position of the target.

In addition, the apparatus and method according to various embodimentsof the present disclosure allow an operating apparatus to accuratelydetermine a driving angle and an interlocking FOV of a monitoringapparatus by considering measurement errors in a measurement system.

In addition, the apparatus and method according to various embodimentsof the present disclosure enable the monitoring apparatus toautomatically track and monitor a target by performing re-driving whenthe monitoring area and the position of the target are not interlockedin the monitoring system.

Effects that may be obtained in embodiments of the present disclosureare not limited to the above-mentioned effects, and other effects notmentioned may be clearly understood by those of ordinary skill in theart to which the present disclosure belongs.

It should be understood that embodiments described herein should beconsidered in a descriptive sense only and not for purposes oflimitation. Descriptions of features or aspects within each embodimentshould typically be considered as available for other similar featuresor aspects in other embodiments. While one or more embodiments have beendescribed with reference to the figures, it will be understood by thoseof ordinary skill in the art that various changes in form and detailsmay be made therein without departing from the spirit and scope of thepresent disclosure.

What is claimed is:
 1. An operating apparatus configured to control amonitoring apparatus that is mounted on a moving object, the monitoringapparatus including a monitoring camera and configured to a detect atarget, the operating apparatus comprising: a controller, wherein thecontroller is configured to: obtain target information from an outside;receive monitoring information from the monitoring apparatus; determine,based on the target information and the monitoring information, drivinginformation for driving the monitoring apparatus so that the target ispositioned in a monitoring area of a monitoring image of the monitoringcamera of the monitoring apparatus; determine, based on the drivinginformation, an interlocking field of view (FOV) for adjusting themonitoring area; and transmit the interlocking FOV and a driving angle,based on the driving information, to the monitoring apparatus.
 2. Theoperating apparatus of claim 1, wherein the target information comprisestarget coordinates and a target shape, wherein the monitoringinformation comprises coordinates, inclination, and inclination accuracyof the monitoring apparatus, wherein the inclination comprises at leastone from among a heading angle, a roll angle, and a pitch angle, andwherein the inclination accuracy comprises a sensor error of themonitoring camera of the monitoring apparatus.
 3. The operatingapparatus of claim 2, wherein the driving information comprises thedriving angle, a driving accuracy, and a target distance, wherein thedriving angle comprises information on a turning angle and a heightangle related to driving of the monitoring apparatus, wherein thedriving accuracy comprises a turning error with respect to the turningangle, and a height error with respect to the height angle, and whereinthe target distance comprises a distance between the target and themonitoring apparatus.
 4. The operating apparatus of claim 3, wherein thecontroller is further configured to: determine the driving accuracy,based on the inclination accuracy and a preset error table, anddetermine the interlocking FOV, based on the driving accuracy and thetarget distance.
 5. The operating apparatus of claim 4, wherein thecontroller is further configured to: determine an initial interlockingFOV, based on the turning error and the height error, and determine theinterlocking FOV from the initial interlocking FOV, based on anoperation mode of the operating apparatus being a first detection modeor a second detection mode, wherein the first detection mode comprises amode in which the interlocking FOV is determined based on a required FOVfor detection according to the target shape, and wherein the seconddetection mode comprises a mode in which the interlocking FOV isdetermined based on a preset target position range value.
 6. Theoperating apparatus of claim 5, wherein the controller is furtherconfigured to: identify whether the turning error is greater than orequal to a mathematical combination of the height error and a ratio of ahorizontal resolution to a vertical resolution of the monitoringapparatus, determine the turning error as the initial interlocking FOVbased on the turning error being greater than or equal to themathematical combination of the height error and the ratio, anddetermine the mathematical combination of the height error and the ratioas the initial interlocking FOV, based on the turning error being lessthan the mathematical combination of the height error and the ratio. 7.The operating apparatus of claim 5, wherein the controller is furtherconfigured to: based on the operation mode being the first detectionmode, determine an area size of the target, based on the target shapeand preset area information, determine a number of detection pixels ofthe target, based on the target shape and preset pixel numberinformation, determine the required FOV for detection, based on the areasize, the number of detection pixels, the target distance, and ahorizontal resolution of the monitoring camera of the monitoringapparatus, and determine the interlocking FOV, based on the required FOVfor detection and the initial interlocking FOV.
 8. A monitoringapparatus mounted on a moving object and configured to detect a target,the monitoring apparatus comprising: a monitoring camera; and acontroller, wherein the controller is configured to: transmit monitoringinformation to an operating apparatus that comprises a controller,receive a driving angle and an interlocking field of view (FOV) from theoperating apparatus, adjust a pointing direction of the monitoringcamera, based on the driving angle, and adjust an FOV of the monitoringcamera, based on the interlocking FOV, wherein the driving anglecomprises information for driving the monitoring apparatus so that thetarget is positioned in a monitoring area of a monitoring image of themonitoring camera, and wherein the interlocking FOV comprises an FOV foradjusting the monitoring area.
 9. The monitoring apparatus of claim 8,wherein the controller is further configured to: identify whether thetarget is positioned in the monitoring area of the monitoring image, andperform re-driving to track the target based on the controlleridentifying that the target is not positioned in the monitoring area,the re-driving comprising re-adjusting the pointing direction of themonitoring camera.
 10. The monitoring apparatus of claim 9, wherein thecontroller is further configured to, based on determining that there isno time period in which the target is positioned in the monitoring area,adjust the pointing direction of the monitoring camera based on at leastone preset driving pattern.
 11. The monitoring apparatus of claim 9,wherein the controller is further configured to, based on determiningthat there is a time period in which the target is positioned in themonitoring area: determine a first target position of the target in themonitoring area at a first time, determine a second target position ofthe target in the monitoring area at a second time after the first time,predict a position of the target based on the first target position, thesecond target position, and a time interval between the first time andthe second time, and adjust the pointing direction of the monitoringcamera to a predicted target direction.
 12. A monitoring systemcomprising: an operating apparatus comprising a controller; and amonitoring apparatus comprising a controller and a monitoring camera,wherein the operating apparatus is configured to: obtain targetinformation from an outside; receive monitoring information from themonitoring apparatus; determine, based on the target information and themonitoring information, driving information for driving the monitoringapparatus so that a target is positioned in a monitoring area of amonitoring image of the monitoring camera; determine, based on thedriving information, an interlocking field of view (FOV) for adjustingthe monitoring area; and transmit the interlocking FOV and a drivingangle, based on the driving information, to the monitoring apparatus,and wherein the monitoring apparatus is configured to: transmit themonitoring information to the operating apparatus, receive the drivingangle and the interlocking FOV from the operating apparatus; adjust,based on the driving angle, a pointing direction of the monitoringcamera of the monitoring apparatus; and adjust, based on theinterlocking FOV, an FOV of the monitoring camera.
 13. A methodperformed by at least one controller of a monitoring system, the atleast one controller including at least one processor, the methodcomprising: obtaining target information; obtaining monitoringinformation; determining, based on the target information and themonitoring information, driving information for driving a monitoringapparatus of the monitoring system so that a target is positioned in amonitoring area of a monitoring image of a monitoring camera of themonitoring apparatus; determining, based on the driving information, aninterlocking field of view (FOV) for adjusting the monitoring area;obtaining a driving angle based on the driving information; adjusting,based on the driving angle, a pointing direction of the monitoringcamera of the monitoring apparatus; and adjusting, based on theinterlocking FOV, an FOV of the monitoring camera.
 14. The method ofclaim 13, wherein the target information comprises target coordinatesand a target shape, wherein the monitoring information comprisescoordinates, inclination, and inclination accuracy of the monitoringapparatus, wherein the inclination comprises at least one from among aheading angle, a roll angle, and a pitch angle, and wherein theinclination accuracy comprises a sensor error of the monitoring cameraof the monitoring apparatus.
 15. The method of claim 13, wherein thedriving information comprises the driving angle, a driving accuracy, anda target distance, wherein the driving angle comprises information on aturning angle and a height angle related to driving of the monitoringapparatus, wherein the driving accuracy comprises a turning error withrespect to the turning angle, and a height error with respect to theheight angle, and wherein the target distance comprises a distancebetween the target and the monitoring apparatus.
 16. The method of claim15, further comprising: determining the driving accuracy, based on aninclination accuracy, included in the monitoring information, and apreset error table, and determining the interlocking FOV, based on thedriving accuracy and the target distance.
 17. The method of claim 16,further comprising: determining an initial interlocking FOV based on theturning error and the height error, and determining the interlocking FOVbased on the initial interlocking FOV.
 18. The method of claim 17,wherein the determining the interlocking FOV comprises: determining arequired FOV for detection based on a target shape included in thetarget information; and determining the interlocking FOV based on therequired FOV for detection and the initial interlocking FOV.
 19. Themethod of claim 17, wherein the determining the interlocking FOVcomprises determining the interlocking FOV based on the initialinterlocking FOV and a preset target position range value.
 20. Themethod of claim 13, further comprising: identifying whether the targetis positioned in the monitoring area of the monitoring image, andperforming re-driving to track the target based on identifying that thetarget is not positioned in the monitoring area, the performing there-driving comprising re-adjusting the pointing direction of themonitoring camera.